WebSVN – seema-scanner – Diff – /src/camera/CameraPointGrey.cpp

 #include "CameraPointGrey.h"
 #include <cstring>
 void PrintError(FlyCapture2::Error error){
     error.PrintErrorTrace();
+}
 vector<CameraInfo> CameraPointGrey::getCameraList(){
     FlyCapture2::Error error;
     FlyCapture2::BusManager busManager;
     unsigned int numCameras;
     error = busManager.GetNumOfCameras(&numCameras);
     vector<CameraInfo> ret;
     if (error != FlyCapture2::PGRERROR_OK){
         PrintError(error);
         return ret;
+    }
     for (unsigned int i=0; i < numCameras; i++){
         FlyCapture2::PGRGuid guid;
         error = busManager.GetCameraFromIndex(i, &guid);
         if (error != FlyCapture2::PGRERROR_OK)
             PrintError(error);
         // Connect to camera
         FlyCapture2::Camera cam;
         error = cam.Connect(&guid);
         if (error != FlyCapture2::PGRERROR_OK)
             PrintError( error );
-    //    // Configure DCAM video mode and frame rate
-    //    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;
-    //    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;
-    //    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);
-    //    if (error != FlyCapture2::PGRERROR_OK)
-    //        PrintError(error);
-        // Configure Format7 mode
-        FlyCapture2::Format7ImageSettings format7Settings;
-        format7Settings.mode = FlyCapture2::MODE_0;
-        format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8;
-        format7Settings.width = 1296;
-        format7Settings.height = 964;
-        format7Settings.offsetX = 0;
-        format7Settings.offsetY = 0;
-        // Validate and set mode
-        FlyCapture2::Format7PacketInfo packetInfo;
-        bool valid;
-        cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
-        // packetsize indirectly configures frame rate
-        error = cam.SetFormat7Configuration(&format7Settings, packetInfo.unitBytesPerPacket*3);
-        if (error != FlyCapture2::PGRERROR_OK)
-            PrintError(error);
-        // Configure general
-        FlyCapture2::FC2Config config;
-        config.numBuffers = 5;
-        config.grabTimeout = 1000; // retrieveBuffer() timeout in ms
-        config.grabMode = FlyCapture2::DROP_FRAMES;
-        config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
-        config.highPerformanceRetrieveBuffer = true;
-        //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
-        error = cam.SetConfiguration(&config);
-        if (error != FlyCapture2::PGRERROR_OK)
-            PrintError(error);
         // Get camera information
         FlyCapture2::CameraInfo camInfo;
         error = cam.GetCameraInfo(&camInfo);
         if (error != FlyCapture2::PGRERROR_OK)
             PrintError( error );
         CameraInfo camera;
         camera.busID = camInfo.nodeNumber;
         camera.model = camInfo.modelName;
         camera.vendor = "Point Grey Research";
         ret.push_back(camera);
+    }
     return ret;
+}
 CameraPointGrey::CameraPointGrey(unsigned int camNum, CameraTriggerMode triggerMode) : Camera(triggerMode){
     FlyCapture2::Error error;
     // Connect to camera
     FlyCapture2::BusManager busManager;
     FlyCapture2::PGRGuid camGuid;
     busManager.GetCameraFromIndex(camNum, &camGuid);
     error = cam.Connect(&camGuid);
     if (error != FlyCapture2::PGRERROR_OK)
         PrintError(error);
-    // Configure video mode and frame rate
+//    // Configure DCAM video mode and frame rate
-    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_640x480Y16;
+//    FlyCapture2::VideoMode videoMode = FlyCapture2::VIDEOMODE_1280x960Y8;
-    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_15;
+//    FlyCapture2::FrameRate frameRate = FlyCapture2::FRAMERATE_7_5;
-    cam.SetVideoModeAndFrameRate(videoMode, frameRate);
+//    error = cam.SetVideoModeAndFrameRate(videoMode, frameRate);
+//    if (error != FlyCapture2::PGRERROR_OK)
+//        PrintError(error);
+    // Configure Format7 mode
+    FlyCapture2::Format7ImageSettings format7Settings;
+    format7Settings.mode = FlyCapture2::MODE_0;
+    format7Settings.pixelFormat = FlyCapture2::PIXEL_FORMAT_RAW16;
+    format7Settings.width = 3376;
+    format7Settings.height = 2704;
+    format7Settings.offsetX = 0;
+    format7Settings.offsetY = 0;
+    // Validate and set mode
+    FlyCapture2::Format7PacketInfo packetInfo;
+    bool valid;
+    error = cam.ValidateFormat7Settings(&format7Settings, &valid, &packetInfo);
+    if (error != FlyCapture2::PGRERROR_OK)
+        PrintError(error);
+    // packetsize indirectly configures frame rate
+    error = cam.SetFormat7Configuration(&format7Settings, packetInfo.recommendedBytesPerPacket);
+    if (error != FlyCapture2::PGRERROR_OK)
+        PrintError(error);
+    // Configure general
+    FlyCapture2::FC2Config config;
+    config.numBuffers = 5;
+    config.grabTimeout = 1000; // retrieveBuffer() timeout in ms
+    config.grabMode = FlyCapture2::DROP_FRAMES;
+    config.isochBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
+    config.highPerformanceRetrieveBuffer = true;
+    //config.asyncBusSpeed = FlyCapture2::BUSSPEED_S_FASTEST;
+    error = cam.SetConfiguration(&config);
+    if (error != FlyCapture2::PGRERROR_OK)
+        PrintError(error);
     // Get the camera information
     FlyCapture2::CameraInfo camInfo;
     error = cam.GetCameraInfo(&camInfo);
     if (error != FlyCapture2::PGRERROR_OK)
         PrintError(error);
     std::cout << camInfo.vendorName << "  " << camInfo.modelName << "  " << camInfo.serialNumber << std::endl;
     // Set reasonable default settings
     CameraSettings settings;
     //settings.shutter = 8.33;
     settings.shutter = 33.33;
     settings.gain = 0.0;
     this->setCameraSettings(settings);
-    // Start isochronous image transfer
-    error = cam.StartCapture();
-    if (error != FlyCapture2::PGRERROR_OK)
-        PrintError(error);
     return;
+}
 CameraSettings CameraPointGrey::getCameraSettings(){
     FlyCapture2::Property property;
     // Get settings:
     CameraSettings settings;
     property.type = FlyCapture2::SHUTTER;
     cam.GetProperty(&property);
     settings.shutter = property.absValue;
     property.type = FlyCapture2::GAIN;
     cam.GetProperty(&property);
     settings.gain = property.absValue;
     return settings;
+}
 void CameraPointGrey::setCameraSettings(CameraSettings settings){
     FlyCapture2::Property property;
     property.onOff = true;
     property.absControl = true;
     property.type = FlyCapture2::SHUTTER;
     property.absValue = settings.shutter;
     cam.SetProperty(&property);
     property.type = FlyCapture2::GAIN;
     property.absValue = settings.gain;
     cam.SetProperty(&property);
+}
 void CameraPointGrey::startCapture(){
-    FlyCapture2::Error error;\
+    FlyCapture2::Error error;
     CameraSettings settings = this->getCameraSettings();
     std::cout << "\tShutter: " << settings.shutter << "ms" << std::endl;
     std::cout << "\tGain: " << settings.gain << "dB" << std::endl;
     if(triggerMode == triggerModeHardware){
         // Configure for hardware trigger
         FlyCapture2::TriggerMode triggerMode;
         triggerMode.onOff = true;
         triggerMode.polarity = 0;
         triggerMode.source = 0;
         triggerMode.mode = 14;
         error = cam.SetTriggerMode(&triggerMode);
         if (error != FlyCapture2::PGRERROR_OK)
             PrintError(error);
-        error = cam.StartCapture();
-        if (error != FlyCapture2::PGRERROR_OK)
-            PrintError(error);
     } else if(triggerMode == triggerModeSoftware){
         // Configure software trigger
         FlyCapture2::TriggerMode triggerMode;
         triggerMode.onOff = true;
         triggerMode.polarity = 0;
         triggerMode.source = 7; // software
         triggerMode.mode = 0;
         error = cam.SetTriggerMode(&triggerMode);
         if (error != FlyCapture2::PGRERROR_OK)
             PrintError(error);
+    }
     // Set the trigger timeout to 1000 ms
     FlyCapture2::FC2Config config;
     config.grabTimeout = 1000;
     error = cam.SetConfiguration(&config);
     if (error != FlyCapture2::PGRERROR_OK)
         PrintError(error);
+    error = cam.StartCapture();
+    if (error != FlyCapture2::PGRERROR_OK)
+        PrintError(error);
     capturing = true;
+}
 void CameraPointGrey::stopCapture(){
     FlyCapture2::Error error = cam.StopCapture();
     if (error != FlyCapture2::PGRERROR_OK)
         PrintError(error);
     capturing = false;
+}
 CameraFrame CameraPointGrey::getFrame(){
     FlyCapture2::Error error;
     if(triggerMode == triggerModeSoftware){
         // Fire software trigger
         // broadcasting not supported on some platforms
         cam.FireSoftwareTrigger(false);
+    }
     // Retrieve the image
     FlyCapture2::Image rawImage;
     error = cam.RetrieveBuffer(&rawImage);
     if (error != FlyCapture2::PGRERROR_OK)
         PrintError(error);
+    rawImage.SetColorProcessing(FlyCapture2::IPP);
+    // de-Bayer
+    rawImage.Convert(FlyCapture2::PIXEL_FORMAT_RGB16, &currentImage);
     CameraFrame frame;
-    frame.timeStamp = rawImage.GetTimeStamp().cycleCount;
+    frame.timeStamp = currentImage.GetTimeStamp().cycleCount;
-    frame.height = rawImage.GetRows();
+    frame.height = currentImage.GetRows();
-    frame.width = rawImage.GetCols();
+    frame.width = currentImage.GetCols();
-    frame.bitDepth = 16;
+    frame.bitDepth = 14;
-    frame.memory = (unsigned short*)rawImage.GetData();
+    frame.memory = (unsigned short*)currentImage.GetData();
     return frame;
+}
 size_t CameraPointGrey::getFrameSizeBytes(){
-    return 0;
+    return 3376*2704*2*3;
+}
 size_t CameraPointGrey::getFrameWidth(){
     // How do we poll this from the camera?
-    return 640;
+    return 3376;
+}
 size_t CameraPointGrey::getFrameHeight(){
     // How do we poll this from the camera?
-    return 480;
+    return 2704;
+}
 CameraPointGrey::~CameraPointGrey(){
     if(capturing && triggerMode == triggerModeHardware){
         // Stop camera transmission
         cam.StopCapture();
+    }
     // Gracefulle destruct the camera
     cam.Disconnect();
+}

Subversion Repositories seema-scanner

(root)/src/camera/CameraPointGrey.cpp – Rev 19 → 20